def spawn_lidar(
hero: carla.ActorBlueprint, # pylint: disable=no-member
config: Mapping[str, Any],
) -> carla.ServerSideSensor: # pylint: disable=no-member
"""Spawns LIDAR sensor on `hero`.
Args:
hero: The agent to attach the LIDAR sensor on.
config: The attribute-value pairs for the configuration
of the sensor.
Returns:
The spawned LIDAR sensor.
"""
# Get hero's world.
world = hero.get_world()
# Blueprints library.
bl = world.get_blueprint_library()
# Configure blueprint.
lidar_bp = bl.find("sensor.lidar.ray_cast")
for attribute, value in config["attributes"].items():
lidar_bp.set_attribute(attribute, value)
logging.debug("Spawns a LIDAR sensor")
return world.spawn_actor(
lidar_bp,
carla.Transform( # pylint: disable=no-member
carla.Location(**config["actor"]["location"]), # pylint: disable=no-member
carla.Rotation(), # pylint: disable=no-member
),
attach_to=hero,
)
def spawn_camera(
hero: carla.ActorBlueprint, # pylint: disable=no-member
config: Mapping[str, Any],
camera_type: str,
) -> carla.ServerSideSensor: # pylint: disable=no-member
"""Spawns a camera on `hero`.
Args:
hero: The agent to attach the camera on.
config: The attribute-value pairs for the configuration
of the sensor.
camera_type: Camera type, one of ("rgb", "semantic_segmentation", "depth").
Returns:
The spawned camera sensor.
"""
assert camera_type in ("rgb", "semantic_segmentation", "depth")
# Get hero's world.
world = hero.get_world()
# Blueprints library.
bl = world.get_blueprint_library()
# Configure blueprint.
camera_bp = bl.find("sensor.camera.{}".format(camera_type))
for attribute, value in config["attributes"].items():
camera_bp.set_attribute(attribute, value)
logging.debug("Spawns a {} camera".format(camera_type))
return world.spawn_actor(
camera_bp,
carla.Transform( # pylint: disable=no-member
carla.Location(**config["actor"]["location"]), # pylint: disable=no-member
carla.Rotation(**config["actor"]["rotation"]), # pylint: disable=no-member
),
attach_to=hero,
)
def spawn_lane_invasion(
hero: carla.ActorBlueprint, # pylint: disable=no-member
) -> carla.ServerSideSensor: # pylint: disable=no-member
"""Spawns lane invasion sensor on `hero`.
Args:
hero: The agent to attach the collision sensor on.
Returns:
The spawned lane invasion sensor.
"""
# Get hero's world.
world = hero.get_world()
# Blueprints library.
bl = world.get_blueprint_library()
# Configure blueprint.
collision_bp = bl.find("sensor.other.lane_invasion")
logging.debug("Spawns a lane invasion sensor")
return world.spawn_actor(
collision_bp,
carla.Transform(), # pylint: disable=no-member
attach_to=hero,
)